CN102674121B - Control system of lift door motor and control method thereof - Google Patents
Control system of lift door motor and control method thereof Download PDFInfo
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- CN102674121B CN102674121B CN201210159231.8A CN201210159231A CN102674121B CN 102674121 B CN102674121 B CN 102674121B CN 201210159231 A CN201210159231 A CN 201210159231A CN 102674121 B CN102674121 B CN 102674121B
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Abstract
The invention provides a control system of a lift door motor and a control method thereof. The control system comprises a microcontroller and an electromagnetic encoder, wherein the microcontroller is provided with a door width detection module, a door-opening control module and a door-closing control module; the door width detection module reads an initial signal of the electromagnetic encoder and calculates the number of rotation turns of a rotor shaft after receiving a door width detection signal, and reads a real-time signal of the electromagnetic encoder, calculates the width of a lift door and saves the width in a memory after receiving a door opening limit signal; the door-opening control module controls the opening of the lift door, calculates first real-time door width data of the lift door and draws a door opening speed curve; and the door-closing control module controls the lift door to be closed, calculates second real-time door width data of the lift door and draws a door closing speed curve under the condition of meeting door closing requirements. The control method is used for controlling the lift door motor by utilizing the control system. The invention can carry out door width detection on the lift door, draws the speed curve in real time and more exactly controls the lift door motor.
Description
Technical field
The present invention relates to the control field of motor, especially relate to a kind of control method that is applied in electric machine control system and the elevator door motor of elevator door.
Background technology
The car door of elevator typically uses servomotor and drives its switching, therefore need to accurately control elevator door motor, realizing the switching fast and accurately of elevator door.To the control of elevator door, be to realize by travel switch or tachometer, but because its operational factor is single and mechanical action is more, serviceability is low, cannot meet the control requirement of modern electrical machine in the past.Therefore, present elevator door motor is controlled and is typically used Power Electronic Technique, by using the microcontrollers such as micro controller system to control the operation of motor.
Elevator door motor is controlled, and is mainly that the rotation of rotor axis of electric is controlled, and controls the rotation number of turns, the velocity of rotation of rotor shaft, thereby controls switching distance and the opening and closing speed of elevator door.Therefore need to be on motor installation site sensor, with the turned position to rotor shaft, detect.
Now common position transduser is code-disc, rotary encoder, photoelectric encoder etc., and these position transdusers are the angle signal of detection rotor axle, and the angle signal of detection is sent to microcontroller.But above-mentioned position transduser exists the defect that productive costs is higher, cause the productive costs of motor too high.
Therefore, the utility model patent that notification number is CN202019277U discloses the innovation and creation of a kind of " vertical permanent magnet variable frequency three-phase synchronous motor " by name, on this motor, magnetism encoder is installed, and carrys out the turned position of detection rotor axle by magnetism encoder.
Magnetism encoder is by detecting field signal and the field signal of detection being converted to a kind of position transduser that electric signal is exported, and therefore uses the motor of magnetism encoder a magnet need to be installed on the axle head of rotor shaft to produce the needed magnetic field of magnetism encoder work.During machine operation, rotor shaft rotation, is arranged on the also rotation thereupon of magnet of rotor shaft axle head, and the field signal that magnetism encoder detects is the variation of generating period also, and exports corresponding electric signal according to the variation of field signal.
The electric signal of magnetism encoder output is that when rotor shaft is rotated in the forward a circle, magnetism encoder is 0 to 4095 impulse singla according to the variation output encoder value of field signal through the impulse singla of coding.When rotor shaft continues rotation, magnetism encoder repeatedly output encoder value is 0 to 4095 impulse singla.When rotor shaft contrarotation, the impulse singla of magnetism encoder output is from 4095 to 0 unidirectional successively decreasing, and after being decremented to 0, then successively decrease since 4095.Therefore,, by detecting the encoded radio of the impulse singla of magnetism encoder output, rotor shaft can be detected and be rotated in the forward still contrarotation, and can detect the position of rotor shaft.
During elevator door opening-closing, microcontroller sends initial pwm control signal to drive elevator door work, magnetism encoder is the turned position of detection rotor axle, and by the signal feedback detecting to microcontroller, by microcontroller, judge that whether the rotation direction of rotor shaft, speed be suitable, and realize the control to machine operation by changing pwm control signal.
Yet existing electric machines control technology is only the simple open and close controlling to elevator door, the gate-width of elevator door is not detected, when the control of elevator door, cannot carry out suitable adjusting according to gate-width value.
In addition, because the elevator door process of opening the door is through from fast to process at a slow speed, and the process of closing the door is through from a slow speed to fast speed process, and this often needs to reflect the speed of opening the door, closing the door by open the door velocity curve, door closing speed curve of drafting.But existing elevator door control technology is often by describing the M curve of rotor shaft or calculating at times open the door velocity curve or door closing speed curve, and velocity curve the inaccuracy of drawing like this, cause controlling inaccuracy.
Summary of the invention
Main purpose of the present invention is to provide a kind of elevator door motor control system that can automatically detect gate-width and accurate Drawing velocity curve.
Another object of the present invention is to provide a kind of elevator door motor control method of controlling particularity that improves.
For realizing main purpose of the present invention, elevator door motor control system provided by the invention comprises to motor to be sent the microcontroller of control signal and is arranged on the magnetism encoder in motor, magnetism encoder detects the position of rotor axis of electric and to microcontroller output signal, wherein, microcontroller is provided with gate-width detection module, after receiving gate-width detection signal, read the first initialize signal of magnetism encoder, in elevator door opens the door operational process, calculate rotor shaft and rotate the number of turns, and after receiving door open limit signal, again read the live signal of magnetism encoder, according to the first initialize signal, rotate the gate-width value of the number of turns and live signal calculating elevator door, gate-width Value Data is saved in memory device, microcontroller is also provided with the control module of opening the door, open the door after control signal receiving, read the second initialize signal of magnetism encoder and be kept at the gate-width Value Data in memory device, in the operational process that opens the door, calculate the rotation number of turns of rotor shaft and calculate the first real-time gate-width data of elevator door, the drafting velocity curve that opens the door, microcontroller is also provided with pass door control module, satisfied, close the door under condition, read the 3rd initialize signal of magnetism encoder and be kept at the gate-width Value Data in memory device, in the operational process of closing the door, calculate the rotation number of turns of rotor shaft and calculate the second real-time gate-width data of elevator door, draw door closing speed curve.
From such scheme, microcontroller is provided with gate-width detection module, can automatically detect the gate-width of elevator door, the encoded radio that the number of turns by detection rotor axle and magnetism encoder detect can calculate the rotation distance of rotor shaft, thus the stroke distances when calculating elevator door and opening.In addition, the control module of opening the door and pass door control module all draw according to real-time gate-width data open the door velocity curve and door closing speed curve, and the velocity curve of drafting is more accurate, is also conducive to the subsequent control to elevator door.
For realizing another object of the present invention, in elevator door motor control method provided by the invention, motor receives the control signal that microcontroller sends, and magnetism encoder is installed in motor, magnetism encoder detects the position of rotor axis of electric and to microcontroller output signal, the method comprises gate-width detecting step, after receiving gate-width detection signal, read the first initialize signal of magnetism encoder, in elevator door opens the door operational process, calculate rotor shaft and rotate the number of turns, and after receiving door open limit signal, again read the live signal of magnetism encoder, according to the first initialize signal, rotate the gate-width value of the number of turns and live signal calculating elevator door, gate-width Value Data is saved in memory device, the control step of opening the door, open the door after control signal receiving, read the second initialize signal of magnetism encoder and be kept at the gate-width Value Data in memory device, in the operational process that opens the door, calculate the rotation number of turns of rotor shaft and calculate the first real-time gate-width data of elevator door, draw the velocity curve that opens the door, close gate control step, satisfied, close the door under condition, read the 3rd initialize signal of magnetism encoder and be kept at the gate-width Value Data in memory device, in the operational process of closing the door, calculating the rotation number of turns of rotor shaft and calculate the second real-time gate-width data of elevator door, drawing door closing speed curve.
From such scheme, to realizing automatic gate-width to elevator door in electric machine control process, detect, and the gate-width Value Data of calculating is stored in memory device, to use in the process of opening the door or the process of closing the door.In addition, in open the door control process and the control process of closing the door, will draw open the door velocity curve and door closing speed curve according to real-time gate-width data, the velocity curve of drawing is like this more accurate, higher to the control accuracy of motor.
A preferred scheme is to open the door and control in step, after microcontroller calculating the first real-time gate-width data, by the first real-time gate-width writing data into memory.
As can be seen here, in each process of opening the door microcontroller all by the first real-time gate-width writing data into memory to upgrade gate-width Value Data, while guaranteeing to close gate control, can use up-to-date data to control next time.
Further scheme is, closes in gate control step, and microcontroller calculates after the second real-time gate-width data, by the second real-time gate-width writing data into memory.
Visible, to close the door each time in process, microcontroller calculates the second real-time gate-width data and is written to memory device to upgrade gate-width Value Data, and while being conducive to open the door, microcontroller uses up-to-date gate-width Value Data to control next time.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of elevator door motor control system embodiment of the present invention and motor.
Fig. 2 is the circuit diagram of elevator door motor control system embodiment of the present invention.
Fig. 3 (a) is the diagram of circuit of gate-width detecting step in elevator door control embodiment of the method for the present invention.
Fig. 3 (b) opens the door in elevator door control embodiment of the method for the present invention to control the diagram of circuit of step.
Fig. 3 (c) closes the diagram of circuit of gate control step in elevator door control embodiment of the method for the present invention.
Below in conjunction with drawings and Examples, the invention will be further described.
The specific embodiment
Elevator door motor control system of the present invention is that the motor of elevator door is controlled, and referring to Fig. 1, control system has microcontroller 10, and it can be micro controller system or DSP(digital signal processor) etc. device.Control system is also provided with memory device 16, for storing the data that elevator door is relevant, and the gate-width Value Data of the elevator door for example calculating, or open the door velocity curve and the door closing speed curve etc. described.Certainly, memory device 16 is external memory device not necessarily, can be also the internal memory of microcontroller 10.
Motor 15 receives the pwm control signal of microcontroller 10 outputs, under the driving of pwm control signal, works.Motor 15 has stator and rotor, and rotor is positioned at stator, under the promotion of magnetic field force, rotates.Rotor has rotor shaft, and a magnet is installed on the axle head of rotor shaft, and preferably, this magnet is permanent magnet, and permanent magnet rotates with the rotation of rotor shaft.Magnetism encoder 17 as position transduser is also installed on motor 15, the turned position of the magnetic field detection rotor shaft that magnetism encoder 17 produces according to the permanent magnet on rotor axis of electric, and produce corresponding impulse singla to microcontroller 10, microcontroller 10 is suitable during according to the rotation of the signal judgement rotor shaft receiving, and the pwm control signal of regulation output.In control system, the circuit diagram of microcontroller 10, memory device 16 and magnetism encoder 17 as shown in Figure 2.
In microcontroller 10, be provided with gate-width detection module 11, the control module of opening the door 12 and close door control module 13, gate-width control module 11 is for automatically detecting the gate-width of elevator door, the control module of opening the door 12 is controlled the unlatching of elevator door after receiving the control signal that opens the door, and closes door control module 13 and control closing of elevator door after the judgement condition of closing the door meets.Below in conjunction with Fig. 3 gate-width detection module 11 is described, the control module of opening the door 12 and the workflow of closing door control module 13.
After microcontroller is started working, judge whether to receive the control signal that elevator main body is sent, if receive signal, judge whether this signal is gate-width detection signal, perform step S1, after judgement is gate-width detection signal, by gate-width detection module, carry out gate-width detecting step.While carrying out gate-width detecting step, first judge that elevator door, whether in open mode, performs step S2, if elevator door in open mode, is controlled elevator door, close at a slow speed, perform step S10.If elevator door is not in open mode, judge whether to receive the limit signal of closing the door, perform step S3, if do not receive the limit signal of closing the door, perform step S10, control elevator door and close at a slow speed.
On elevator door, a plurality of travel switches will be installed, after elevator door cuts out completely, by shake-up travel switch and produce the limit signal of closing the door.In the same manner, after elevator door is opened completely, also can touch the travel switch of another group, this group travel switch also can produce a door open limit signal to microcontroller.Therefore, microcontroller receives the limit signal of closing the door, and expression elevator door cuts out completely, if receive door open limit signal, expression elevator door is opened completely.
In step S3, if judgement receives the limit signal of closing the door, expression elevator door cuts out completely, and microcontroller reads the now position signal of magnetism encoder, and this signal is initialize signal, performs step S4.Meanwhile, microcontroller, by the gate-width Value Data zero clearing being stored in memory device, performs step S5.
Then, microcontroller execution step S6, microcontroller is exported pwm control signal to motor, drive motor rotation, and drive elevator door to carry out opening door operation by transmission device.Because the rotor shaft of motor drives elevator door opening-closing by fixing transmission device, so rotor shaft rotates the stroke that the moving elevator door of an astragal walks and fixes, and can calculate the stroke of elevator door by calculating angle that rotor shaft rotates.
In elevator door opening process, microcontroller execution step S7, the rotation number of turns of calculating rotor shaft, for example, by calculating the amount of cycles of the impulse singla of magnetism encoder output, can calculate the number of turns that rotor shaft rotates.Or, by calculating the quantity of output pwm signal, also can calculate the rotation number of turns of rotor shaft.
Then, microcontroller execution step S8, judges whether to receive door open limit signal, if do not receive door open limit signal, represents that elevator door is not opened to maximum position, continues to carry out opening door operation.If receive door open limit signal, perform step S9, read magnetism encoder live signal now, and the gate-width value of calculating elevator door according to the number of turns of the initialize signal having read, rotor axis of electric rotation, live signal, gate-width Value Data is written in memory device.In the present embodiment, memory device is nonvolatile memory, and after power-off, data still can be kept in memory device, to avoid data to disappear after power-off.
In step S1, if the signal that microcontroller judgement receives is not gate-width detection signal, perform step S11, whether the signal that judgement receives is the control signal that opens the door, if open the door control signal, by the control module of opening the door, carries out the control step of opening the door.First, microcontroller execution step S12, reads the current signal of magnetism encoder, the encoded radio of impulse singla namely, and this signal is initialize signal.Meanwhile, the gate-width Value Data of storing in microcontroller read memory.Then, the gate-width Value Data that microcontroller is stored memory device carries out clear operation, execution step S13.
Then, microcontroller is exported pwm control signal to motor, and the rotor shaft of controlling motor rotates and drives elevator door to open, and performs step S14.In elevator door opening process, microcontroller calculates the number of turns that rotor shaft rotates, and reads in real time the live signal of magnetism encoder, thereby calculates the data of real-time gate-width simultaneously, the data of real-time gate-width are written in memory device, namely perform step S15 and S16.Because microcontroller constantly calculates real-time gate-width data, namely in elevator door opening process, microcontroller will calculate along with time lapse corresponding to the gate-width Value Data under a plurality of time points, forms one group of discrete data, and these data are the data that constantly increase.According to the gate-width Value Data under each time point, can calculate the speed of opening the door under each time point, and then the drafting place velocity curve that opens the door, perform step S17.
Microcontroller will judge whether to receive the limit signal of closing the door in the process of opening the door, and perform step S18, if do not receive the limit signal of closing the door, continue to carry out opening door operation, if receive door open limit signal, perform step S19, the timing of setting starts timing.The timing of setting is predefined, and it is the wait time after elevator door is opened completely, can arrange according to actual conditions, such as arranging 30 seconds or 20 seconds etc.
Whether the timing that microcontroller judgement is set arrives, and performs step S20, if timing does not arrive, continues to wait for, if timing arrives, performs step S22, and the control step of opening the door finishes.
Open the door after control flow step, microcontroller enters and closes gate control step, by closing door control module, controls execution.In step S21, microcontroller judges whether to receive pass gate control signal, if do not receive, performs step S29, controls elevator door and closes at a slow speed.If judgement receives pass gate control signal, perform step S22, read the current signal of magnetism encoder, namely initialize signal reads last stored at the gate-width Value Data of memory device simultaneously.Then, execution step S23, the gate-width Value Data zero clearing that memory device is stored.
Then, microcontroller execution step S24, to motor output pwm control signal, controls motor and rotates and drive elevator door to carry out door-closing operation.Meanwhile, microcontroller calculates the rotation number of turns of rotor shaft, performs step S25, calculates the real-time gate-width data of elevator by reading the live signal of magnetism encoder simultaneously, performs step S26, and the real-time gate-width data of calculating are written in memory device.And microcontroller is drawn door closing speed curve according to real-time gate-width data, performs step S27.
Finally, microcontroller judges whether to receive the limit signal of closing the door, and performs step S28, if receive the limit signal of closing the door, represents that elevator door cuts out completely, returns and waits for the signal receiving next time.If do not receive the limit signal of closing the door of elevator door, expression elevator door does not cut out completely, continues to carry out the operation of closing elevator door.
From said method, the inspiration condition of closing gate control step is that microcontroller receives to close gate control signal or receive the timing of setting after door open limit signal and arrives, as long as meet in above-mentioned two conditions, close door control module and control execution pass gate control step.
Owing to opening the door control process and closing the door in control process, microcontroller will record real-time gate-width data, by the real-time gate-width writing data into memory of record.Like this, the real-time gate-width data that write for the last time in the process of opening the door will replace the gate-width Value Data having write, and finally close the reference data of gate control, the control that is conducive to close the door next time.
And due to by calculating real-time gate-width Value Data describe to open the door velocity curve and door closing speed curve, the drafting of open the door velocity curve and door closing speed curve is more accurate.Meanwhile, because control system can realize the automatic detection to elevator gate-width, be conducive to the control of opening the door to elevator door in the control process that opens the door.
Meanwhile, microcontroller is opening the door or is closing the door in process, can contrast the velocity curve of describing and the velocity curve of describing before, judges that whether the current speed of opening the door or door closing speed be too fast or excessively slow, and regulates timely.
The change of calculating rotor shaft turning collar counting method, the variations such as change of type of memory finally it is emphasized that and the invention is not restricted to above-mentioned embodiment, as also should being included in the protection domain of the claims in the present invention.
Claims (9)
1. elevator door motor control system, comprises
To motor, send the microcontroller of control signal;
Be arranged on the magnetism encoder in described motor, described magnetism encoder detects the position of described rotor axis of electric and to described microcontroller output signal;
It is characterized in that:
Described microcontroller is provided with
Gate-width detection module, after receiving gate-width detection signal, read the first initialize signal of described magnetism encoder, in elevator door opens the door operational process, calculate described rotor shaft and rotate the number of turns, and after receiving door open limit signal, again read the live signal of described magnetism encoder, the gate-width value of calculating described elevator door according to described the first initialize signal, the described rotation number of turns and described live signal, is saved to described gate-width Value Data in memory device;
The control module of opening the door, open the door after control signal receiving, read the second initialize signal of described magnetism encoder and be kept at the gate-width Value Data in described memory device, in the operational process that opens the door, calculate the rotation number of turns of described rotor shaft and calculate the first real-time gate-width data of described elevator door, the described first real-time gate-width data are written to described memory device, draw the velocity curve that opens the door;
Close door control module, satisfied, close the door under condition, read the 3rd initialize signal of described magnetism encoder and be kept at the gate-width Value Data in described memory device, in the operational process of closing the door, calculate the rotation number of turns of described rotor shaft and calculate the second real-time gate-width data of described elevator door, draw door closing speed curve.
2. elevator door motor control system according to claim 1, is characterized in that:
The described condition of closing the door is to reach the schedule time or receive pass gate control signal after described microcontroller receives door open limit signal.
3. elevator door motor control method, described motor receives the control signal that microcontroller sends, and in described motor, magnetism encoder is installed, and described magnetism encoder detects the position of described rotor axis of electric and to described microcontroller output signal;
It is characterized in that: the method comprises
Gate-width detecting step, after receiving gate-width detection signal, read the first initialize signal of described magnetism encoder, in elevator door opens the door operational process, calculate described rotor shaft and rotate the number of turns, and after receiving door open limit signal, again read the live signal of described magnetism encoder, the gate-width value of calculating described elevator door according to described the first initialize signal, the described rotation number of turns and described live signal, is saved to described gate-width Value Data in memory device;
The control step of opening the door, open the door after control signal receiving, read the second initialize signal of described magnetism encoder and be kept at the gate-width Value Data in described memory device, in the operational process that opens the door, calculate the rotation number of turns of described rotor shaft and calculate the first real-time gate-width data of described elevator door, the described first real-time gate-width data are write in described memory device, draw the velocity curve that opens the door;
Close gate control step, satisfied, close the door under condition, read the 3rd initialize signal of described magnetism encoder and be kept at the gate-width Value Data in described memory device, in the operational process of closing the door, calculate the rotation number of turns of described rotor shaft and calculate the second real-time gate-width data of described elevator door, draw door closing speed curve.
4. elevator door motor control method according to claim 3, is characterized in that:
The described condition of closing the door is to reach the schedule time or receive pass gate control signal after described microcontroller receives door open limit signal.
5. according to the elevator door motor control method described in claim 3 or 4, it is characterized in that:
In described gate-width detecting step, after reading described the first initialize signal, the gate-width Value Data zero clearing that described microcontroller is preserved described memory device.
6. according to the elevator door motor control method described in claim 3 or 4, it is characterized in that:
Described opening the door controlled in step, after the gate-width Value Data of described microcontroller reading and saving in described memory device, and the gate-width Value Data zero clearing that described memory device is preserved.
7. according to the elevator door motor control method described in claim 3 or 4, it is characterized in that:
In described pass gate control step, after the gate-width Value Data of described microcontroller reading and saving in described memory device, the gate-width Value Data zero clearing that described memory device is preserved.
8. according to the elevator door motor control method described in claim 3 or 4, it is characterized in that:
In described pass gate control step, described microcontroller calculates after the described second real-time gate-width data, and the described second real-time gate-width data are write in described memory device.
9. according to the elevator door motor control method described in claim 3 or 4, it is characterized in that:
In described gate-width detecting step, read before described the first initialize signal, described microcontroller judges that whether described elevator door is in open mode, if described elevator door in open mode, is controlled described elevator door, closes at a slow speed.
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| CN104843571B (en) * | 2015-04-14 | 2017-03-22 | 上海贝思特门机有限公司 | Elevator door motor controller capable of automatically recognizing door width and door position |
| CN104876102B (en) * | 2015-04-28 | 2016-06-08 | 深圳市海浦蒙特科技有限公司 | The door machine control method of position-based verification and system |
| CN106289332B (en) * | 2016-09-05 | 2018-12-18 | 京东方科技集团股份有限公司 | The reading device of servo-system and its position of output axle |
| CN107324193B (en) * | 2017-06-02 | 2020-02-14 | 苏州汇川技术有限公司 | Method and device for acquiring distance between door knives and elevator door motor driving system |
| CN109368460B (en) * | 2018-11-23 | 2020-10-20 | 张勇 | Elevator system for controlling elevator door with normal speed curve |
| CN110077943B (en) * | 2019-04-19 | 2021-08-03 | 日立楼宇技术（广州）有限公司 | Method and device for determining opening and closing states of elevator door and computer equipment |
| CN113073918A (en) * | 2021-03-05 | 2021-07-06 | 欧特美交通科技股份有限公司 | Rail transit equipment inner end door and control method thereof |
| CN114778883B (en) * | 2022-03-28 | 2024-04-12 | 上海电气集团股份有限公司 | Detection method, system, equipment and medium for train door limit switch |
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| CN1280096A (en) * | 1999-07-13 | 2001-01-17 | 孙文林 | Automatic cage speed controller for lift |
| JP2003341963A (en) * | 2002-05-24 | 2003-12-03 | Mitsubishi Electric Corp | Elevator door opening/closing control system |
| JP2007015787A (en) * | 2005-07-05 | 2007-01-25 | Toshiba Elevator Co Ltd | Elevator door device, door control device and door control method |
| JP2007320730A (en) * | 2006-06-02 | 2007-12-13 | Mitsubishi Electric Corp | Door control device for elevator |
| CN102070064A (en) * | 2009-11-20 | 2011-05-25 | 苏州默纳克控制技术有限公司 | Elevator door motor control system and method |
| CN201915750U (en) * | 2010-12-30 | 2011-08-03 | 海安县宏菱新型材料机电有限公司 | Integral gate operator direct drive and vector control device |
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